WO2023000412A1 - 一种基于物联网的搬运系统及其方法 - Google Patents
一种基于物联网的搬运系统及其方法 Download PDFInfo
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- WO2023000412A1 WO2023000412A1 PCT/CN2021/112224 CN2021112224W WO2023000412A1 WO 2023000412 A1 WO2023000412 A1 WO 2023000412A1 CN 2021112224 W CN2021112224 W CN 2021112224W WO 2023000412 A1 WO2023000412 A1 WO 2023000412A1
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- Prior art keywords
- clamping
- holding
- connecting sleeve
- shaft
- holding member
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 108
- 238000004806 packaging method and process Methods 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000009459 flexible packaging Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
Definitions
- the invention belongs to the technical field of handling, and in particular relates to a handling system and method based on the Internet of Things.
- the present invention provides an IoT-based handling system and method applicable to various types of express delivery.
- a handling system based on the Internet of Things including a mechanical arm, the end of the mechanical arm is provided with a rotating mechanism; the rotating mechanism is provided with at least two groups of clamping mechanisms; Cameras are installed, and the cameras share a data platform; data sharing enables the data to be uploaded to the background when the camera on any one of the clamping mechanisms reads the information of the express, and the background can be called according to the current data. Any clamping mechanism can realize free switching of the clamping mechanism.
- the camera is set to obtain the packaging category of the current express delivery;
- the rotating mechanism is set to switch the position of the gripping mechanism according to the packaging category, and select the gripping mechanism that matches the packaging category;
- the clamping mechanism includes at least a first clamping mechanism and a second clamping mechanism, wherein the first clamping mechanism is configured to clamp soft-packaged express delivery, and the second clamping mechanism is configured to clamp hard-packaged express delivery .
- the first clamping mechanism includes:
- the sleeve is connected to the rotating mechanism; at least three sets of clamping parts are hinged at the edge of the movable end of the sleeve; the end of the clamping part facing away from the sleeve is the clamping end;
- the movable rod is axially inserted into the sleeve; at least three sets of connecting parts are hinged at the movable end of the moving rod, and the number and position of the connecting parts are consistent with the clamping parts; the connecting parts One end of the hinge is hinged at the middle position of the clamping member;
- the telescopic part is connected to the fixed end of the movable rod by transmission; when the telescopic part is in the compressed state, the movable rod is located in the sleeve to the greatest extent, and the clamping end is in a gathered state at this time; otherwise, the clamping end is in an open state state.
- the clamping end is a protrusion extending to a predetermined height towards the axis.
- the second clamping mechanism includes:
- the mounting part is connected to the rotating mechanism; the two sides of the mounting part are respectively provided with a first holding component and a second holding component;
- the first drive assembly and the second drive assembly are arranged on the mounting part; the first drive assembly is configured to drive the first holding assembly and the holding part on the same side of the second holding assembly to do the same direction Or reverse movement; the second drive assembly is configured to drive the first holding assembly and the holding member on the other side of the second holding assembly to move in the same direction or in the opposite direction.
- the same driving component is used to control the corresponding holding parts of the two holding components, increasing the pressure on both sides of the express delivery during clamping, and strengthening the clamping force.
- the first holding component includes:
- the first outer shaft is rotatably installed on one side of the mounting part; the first outer shaft is sleeved and rotatably connected to the first inner shaft;
- the first holding member is fixed on the bottom of the first inner rotating shaft
- the third holding member is fixedly sleeved on the bottom of the first outer shaft
- the second holding assembly includes: a second outer rotating shaft, which is rotatably installed on the other side of the mounting part; the second outer rotating shaft is sleeved and rotatably connected to a second inner rotating shaft;
- the second holding member is fixed on the bottom of the second inner rotating shaft
- the fourth holding member is fixedly sleeved on the bottom of the second outer shaft
- the first driving assembly is configured to simultaneously drive the first holding member and the fourth holding member to move in the same direction or in the opposite direction;
- the second driving assembly is configured to simultaneously drive the second holding member and the third holding member The parts move in the same direction or in the opposite direction.
- the first drive assembly includes:
- the first cylinder is installed on the mounting part; the piston rod of the first cylinder is hinged with a first connecting sleeve, and the first connecting sleeve is on the first outer shaft; the hinge between the first connecting sleeve and the piston rod Located on one side of the first outer shaft at the same time as the third holding member;
- It also includes: a second connecting sleeve and a third connecting sleeve, respectively fixed on the first outer shaft and the second outer shaft;
- the first connecting shaft the two ends of which are respectively hinged to the second connecting sleeve and the third connecting sleeve; the hinge of the third connecting sleeve and the first connecting shaft and the fourth holding member are respectively located on both sides of the second outer rotating shaft .
- the second drive assembly includes:
- the second cylinder is installed on the mounting part; the piston rod of the second cylinder is hinged with a fourth connecting sleeve, and the fourth connecting sleeve is on the second inner shaft; the hinge of the fourth connecting sleeve and the piston rod Located on one side of the second outer shaft at the same time as the second holding member;
- It also includes: a fifth connecting sleeve and a sixth connecting sleeve, respectively fixed to the second inner rotating shaft and the first inner rotating shaft;
- the second connecting shaft the two ends of which are respectively hinged to the fifth connecting sleeve and the sixth connecting sleeve; the hinge of the sixth connecting sleeve and the second connecting shaft and the third holding member are respectively located on both sides of the first outer rotating shaft .
- the length of the mounting parts is divided into at least two levels according to the length of the hard-packed express delivery, including primary mounting parts, secondary mounting parts, ..., n-level mounting parts, where n is greater than an integer of 2;
- n L/ n 1 , n is rounded to an integer; where, n 1 is the maximum length clamped by the second clamping mechanism when using a first-level mounting piece;
- Step 1 The camera obtains the packaging category of the current express delivery. If it is identified as a soft-package express, perform step 2; if it is identified as a hard-package express, perform step 4;
- Step 2 the rotating mechanism receives the execution order, and rotates the first clamping mechanism to the current courier;
- Step 3 Adjust the telescopic part so that the telescopic part is stretched, the clamping end is opened, and the mechanical arm is moved so that the current express is located in the clamping space formed by multiple clamping ends, and the telescopic part is adjusted again so that the In the compressed state, the clamping ends gather together to clamp the current express, and transfer it;
- Step 4 the rotating mechanism receives the execution order, and rotates the second clamping mechanism to the current courier;
- Step 5 Adjust the first cylinder and the second cylinder to be in the ejected state and move the mechanical arm so that the current express is located in the clamp formed by the first holding piece, the second holding piece, the third holding piece and the fourth holding piece In the holding space; adjust the first cylinder and the second cylinder to be in the compressed state again and pick up the current courier position for transportation and transfer.
- the step four further includes: the camera acquires the length of the hard-packed express, and selects a second clamping mechanism with a matching mounting part according to the range of the length.
- multiple groups of clamping mechanisms that can be selected and reversed are set at the end of the same mechanical arm, and combined with the image acquisition function of the camera, the corresponding clamping mechanism is called based on the type of express package, and the same geographic location
- the different packaging types of express delivery can be clamped at and adjacent to the clamping time period, which increases the efficiency of sorting and handling.
- Fig. 1 is a schematic structural diagram of the first clamping mechanism.
- Fig. 2 is a schematic structural diagram of the second clamping mechanism.
- Each label in Fig. 1 to Fig. 2 is: sleeve 101, clamping part 102, clamping end 103, movable rod 104, connecting part 105, mounting part 201, first outer rotating shaft 202, first inner rotating shaft 203, the first A holding part 204, a third holding part 205, a second outer shaft 206, a second inner shaft 207, a second holding part 208, a fourth holding part 209, a first cylinder 210, a first connecting sleeve 211, The second connecting sleeve 212 , the third connecting sleeve 213 , the first connecting shaft 214 , the second cylinder 215 , the fourth connecting sleeve 216 , the fifth connecting sleeve 217 , the sixth connecting sleeve 218 , and the second connecting shaft 219 .
- this embodiment has developed a handling system based on the Internet of Things, which can realize sorting and handling at the same geographical location by being applicable to various types of express delivery, which improves the sorting efficiency At the same time, the space requirement is reduced.
- the specific manifestation is; a handling system based on the Internet of Things, including multiple sets of robotic arms, which are set at different locations for regional sorting and handling according to sorting requirements.
- a rotating mechanism is provided at the end of the robotic arm, and two groups of gripping mechanisms are installed on the rotating mechanism, and a camera is installed on each group of gripping mechanisms , the cameras share a data platform.
- the setting of the rotating mechanism is to select a matching clamping mechanism according to the type of the current express package, so the existing rotating mechanism can be used, and will not be described in this embodiment.
- Data sharing realizes that when the camera on any of the clamping mechanisms reads the information of the express delivery, the data can be uploaded to the background, and the background can call any clamping mechanism according to the current data to realize the free switching of the clamping mechanism .
- the camera on any one of the clamping mechanisms obtains the information of the current express packaging category
- the data will be uploaded to the data platform, and the data platform can call any clamping mechanism on the rotating mechanism for handling and transfer.
- the camera is set to obtain the packaging category of the current express delivery;
- the rotating mechanism is set to switch the position of the gripping mechanism according to the packaging category, and select the gripping mechanism that is suitable for the packaging category;
- the packaging category is divided into soft package express and hard package express.
- Soft-package express is to pack clothes, trousers, or documents in eco-friendly bags;
- hard-package is to pack in cardboard boxes, which can be fragile items or food, etc., which are easy to protect products.
- the clamping mechanism includes a first clamping mechanism and a second clamping mechanism, wherein the first clamping mechanism is set to clamp the soft package express delivery, in other words, the first clamping mechanism
- the clamping part can effectively clamp the environmental protection bag (which is prone to deformation).
- the second clamping mechanism is configured to clamp hard-packed express delivery, that is, the second clamping mechanism can clamp large-volume objects that are not easily deformed.
- the first clamping mechanism includes: a sleeve 101 connected to the rotating mechanism, the inside of the sleeve 101 is provided with a conduction portion along its axial direction, and the sleeve 101
- the two ends are open structures, and the open structures communicate with the conduction part.
- Four groups of clamping parts 102 are hinged at the edge of the movable end of the sleeve 101, and the end of each group of clamping parts 102 is a clamping end 103, that is, the end away from the sleeve 101 is a clamping end 103 for clamping express delivery.
- a movable rod 104 is inserted inside the conducting part, and four sets of connecting parts 105 are hinged at the movable end of the moving rod 104 , and the position of each connecting part 105 corresponds to the position of the clamping part 102 .
- the connecting piece 105 drives the clamping piece 102, and a telescopic piece is arranged at the fixed end of the sleeve 101.
- the telescopic piece is an electric cylinder.
- the piston rod of the electric cylinder is connected to the fixed end of the movable rod 104 by transmission.
- the movable rod 104 When in use, when the telescopic member is in a compressed state, the movable rod 104 is located in the sleeve 101 to the greatest extent, and the clamping end 103 is in a gathered state; On the contrary, the clamping end 103 is in an open state.
- the above-mentioned clamping member 102 is used to clamp the easily deformable packaging bag, and the commonly used packaging bags all have smooth contact surfaces, so sliding is easy to occur.
- the clamping end 103 is a protrusion extending to a predetermined height towards the axis.
- the raised inner wall is a corrugated surface, which increases the friction force during contact. It is suitable for express delivery in flexible packaging, such as bagged or soft express delivery. The mutual force is effectively transmitted to the express delivery through the clamping ends 103 gathered together, and it is also suitable for petite express delivery.
- the second clamping mechanism includes: a mounting part 201 installed at the rotating mechanism, and the two sides of the mounting part 201 are respectively provided with The first holding component and the second holding component.
- the first driving assembly and the second driving assembly are arranged on the mounting part 201 .
- the difference from the prior art is that the clamping state of the first holding assembly used in the market is controlled by the first driving assembly, and the clamping state of the second holding assembly is controlled by the second driving assembly. Although it will bring a certain clamping effect, in actual use, the first holding component and the second holding component controlled separately will appear out of sync, and at the same time, the force on the box will be asymmetrical , so it will cause the problem of the box body tilting or sliding down.
- the first driving assembly is configured to drive the holding parts on the same side of the first holding assembly and the second holding assembly to move in the same direction or in the opposite direction;
- the second driving assembly It is configured to drive the first holding component and the holding part on the other side of the second holding component to move in the same direction or in opposite directions.
- the first holding component includes: a first outer shaft 202 , a first inner shaft 203 , a first holding part 204 and a second holding part 208 .
- the first outer shaft 202 is vertically rotatably mounted on one side of the mounting member 201
- the first inner shaft 203 is sleeved and rotatably connected to the first outer shaft 202 .
- the first holding part 204 is fixedly sleeved on the bottom of the first outer shaft 202
- the third holding part 205 is fixed on the bottom of the first inner rotating shaft 203
- the first holding part 204 and the third holding part 205 are respectively arranged on both sides of the first outer shaft 202 .
- the second holding assembly includes: a second outer shaft 206 , a second inner shaft 207 , a second holding piece 208 and a fourth holding piece 209 .
- the second outer shaft 206 is vertically and rotatably mounted on the other side of the installation part 201
- the second inner shaft 207 is sleeved and rotatably connected to the second outer shaft 206 .
- the second holding part 208 is fixed on the bottom of the second inner rotating shaft 207
- the fourth holding part 209 is fixed on the bottom of the second outer rotating shaft 206
- the second holding part 208 and the fourth holding part 209 are respectively arranged on Both sides of the first outer shaft 202 .
- the first driving assembly is configured to simultaneously drive the first holding member 204 and the fourth holding member 209 to move in the same direction or in the opposite direction; the second driving assembly is configured to drive the second holding member 208 and the fourth holding member 209 simultaneously.
- the three holding parts 205 move in the same direction or in opposite directions.
- the first drive assembly includes: a first cylinder 210, a first connecting sleeve 211, a second connecting sleeve 212, a third connecting sleeve 213 and a first connecting sleeve. Shaft 214.
- the first cylinder 210 is mounted on the mounting member 201 , and the piston rod of the first cylinder 210 is hinged with a first connecting sleeve 211 .
- the first connecting sleeve 211 is fixed on the first outer rotating shaft 202, and the hinge between the first connecting sleeve 211 and the piston rod and the third holding member 205 are located at the first One side of the outer shaft 202.
- the second connecting sleeve 212 and the third connecting sleeve 213 are respectively fixed on the first outer shaft 202 and the second outer shaft 206; in order to realize the drive on both sides of the mounting part 201, the two ends of the first connecting shaft 214 are respectively hinged
- the second connecting sleeve 212 and the third connecting sleeve 213 ; the hinge of the third connecting sleeve 213 and the first connecting shaft 214 and the fourth holding member 209 are respectively located on two sides of the second outer rotating shaft 206 .
- the first connecting sleeve 211 and the second connecting sleeve 212 hinged therewith rotate clockwise (the hinge of the second connecting sleeve 212 is moved away from the first One side of the cylinder 210 is pushed out), that is, the first outer shaft 202 fixedly connected with the first connecting sleeve 211 also rotates clockwise.
- the first holding member 204 fixed at the bottom of the first outer shaft rotates clockwise (closer to the mounting member 201 ).
- the second connecting sleeve 212 drives the third connecting sleeve 213 to approach the first cylinder 210 in the opposite direction, that is, the second outer rotating shaft 206 fixedly connected with the third connecting sleeve 213 also rotates counterclockwise. Rotate, so the fourth holding piece 209 fixed on the bottom of the second outer rotating shaft rotates counterclockwise (closer to the mounting piece 201), and the first holding piece 204 and the fourth holding piece 209 that are close to each other play a clamping role. role.
- the second driving assembly includes: a second cylinder 215 , a fourth connecting sleeve 216 , a fifth connecting sleeve 217 , a sixth connecting sleeve 218 and a second connecting shaft 219 .
- the second cylinder 215 is installed on the mounting part 201 and is arranged opposite to the first cylinder 210, and the fourth connecting sleeve 216 is hinged on the piston rod of the second cylinder 215, and at the same time, in order to drive the second inner shaft 207 rotation, so the fourth connecting sleeve 216 is fixed on the second inner rotating shaft 207 .
- the joint between the fourth connecting sleeve 216 and the piston rod and the second holding member 208 are located on one side of the second outer shaft 206 at the same time.
- the fifth connecting sleeve 217 and the sixth connecting sleeve 218 are respectively fixed to the second inner rotating shaft 207 and the first inner rotating shaft 203; the two ends of the second connecting shaft 219 are respectively hinged to the fifth connecting sleeve 217 and the sixth connecting sleeve 218 ; the hinge of the sixth connecting sleeve 218 and the second connecting shaft 219 and the third holding member 205 are respectively located on two sides of the first outer rotating shaft 202 .
- the piston rod of the second cylinder 215 When in use, the piston rod of the second cylinder 215 is in a stretched state, and the fourth connecting sleeve 216 and the fifth connecting sleeve 217 connected with it drive the second inner rotating shaft 207 to rotate clockwise, that is, it is fixed with the second inner rotating shaft 207
- the connected second holding part 208 is clockwise (closer to the mounting part 201); the fifth connecting sleeve 217 moves in the opposite direction to the second cylinder 215 under the action of the second connecting shaft 219, and the sixth connecting The sleeve 218 rotates counterclockwise, and the first inner rotating shaft 203 fixedly connected with the sixth connecting sleeve 218 rotates counterclockwise, so the third holding member 205 fixedly connected with the first inner rotating shaft rotates counterclockwise (to the mounting part 201 close), the second holding member 208 and the fourth holding member 209 that are close to each other play the role of clamping.
- the same driving component is used to control the corresponding holding parts of the two holding components, which increases the pressure on both sides of the express when clamping, strengthens the clamping force, and meets the requirements of clamping heavier express. need.
- the handling method of the handling system based on the Internet of Things is characterized in that, comprising the following steps:
- Step 1 The camera obtains the packaging category of the current express delivery. If it is identified as a soft-package express, perform step 2; if it is identified as a hard-package express, perform step 4;
- Step 2 the rotating mechanism receives the execution order, and rotates the first clamping mechanism to the current courier;
- Step 3 Adjust the telescopic piece so that it is stretched, the clamping end 103 is opened, and the mechanical arm is moved so that the current express delivery is located in the clamping space formed by multiple clamping ends 103, and the telescopic piece is adjusted again to make the telescopic piece
- the piece is in a compressed state, the clamping end 103 gathers and clamps the current express delivery, and transfers it;
- Step 4 the rotating mechanism receives the execution order, and rotates the second clamping mechanism to the current courier;
- Step 5 Adjust the first cylinder 210 and the second cylinder 215 to be in the ejected state and move the mechanical arm so that the current courier is located in the first holding part 204, the second holding part 208, the third holding part 205 and the fourth holding part. In the clamping space formed by the holder 209; adjust the first cylinder 210 and the second cylinder 215 again to be in a compressed state and pick up the current courier position for transport and transfer.
- the size of the express delivery box is different according to the size of the transported object, when using the same second clamping mechanism for clamping, it will be limited in the range of clamping. If the first If the length of the mounting part 201 in the second clamping mechanism is short, it is not suitable for clamping a larger casing; box.
- the clamping mechanism includes a first clamping mechanism, a second clamping mechanism and a third clamping mechanism.
- the structure of the first clamping mechanism is the same as the structure of the first clamping mechanism in the above embodiment, so it will not be repeated.
- the second clamping mechanism has the same structure as the third clamping mechanism, and is the same as the second clamping mechanism in the above-mentioned embodiment.
- the difference between the third clamping mechanism and the second clamping mechanism is It depends on the length setting of the mounting piece.
- the length of the installation part is divided into at least two levels according to the length of the hard-packed express delivery, including first-level installation parts, second-level installation parts, ..., n-level installation parts, where n is an integer greater than or equal to 2; define hard-package express delivery
- the handling method of the handling system further includes: the camera acquires the length of the hard-packed express, and selects the second clamping mechanism with a matching mounting part according to the range of the length.
Abstract
本发明公开了一种基于物联网的搬运系统及其方法，属于搬运的技术领域。包括转动机构，转动机构至少设有两组夹取机构；每组夹取机构上均安装有摄像头，所述摄像头共享一个数据平台；所述摄像头被设置为获取当前快递的包装类别；所述转动机构被设置为根据包装类别切换夹取机构所在的位置，选用与包装类别相适配的夹取机构。本发明在同一个机械臂的末端处设置了可供选择和换向的多组夹取机构，并结合摄像机的图像采集功能，基于快递包装的类型调用对应的夹取机构，在同一个地理位置处和相邻的夹取时间段实现对不同包装类型的快递进行夹取，增加了分拣搬运的效率。
Description
本发明属于搬运的技术领域，特别是涉及一种基于物联网的搬运系统及其方法。
近年来，随着物流行业的快速发展，快递派件应运而生，不需要人们出门就能得到自己喜欢的物品。
而在快递运输整理的过程中，需要将快递按照种类或者日期进行保存或者派件，目前快递包装的种类不一，包括袋装和纸盒装。使用袋装的快递一般具有一定的柔软度，而使用纸盒装的快递虽然具有一定的硬度但是大小不一。故在使用机械人分拣时使用一个夹取机构是无法满足不同快递类别的搬运。
本发发明为解决上述背景技术中存在的技术问题，提供一种适用于各种快递类型的基于物联网的搬运系统及其方法。
本发明采用以下技术方案：一种基于物联网的搬运系统，包括机械臂，所述机械臂的末端设置有转动机构；所述转动机构至少设有两组夹取机构；每组夹取机构上均安装有摄像头，所述摄像头共享一个数据平台；数据共享实现了当其中任何一个夹取机构上的摄像头对快递进行信息读取时，都能将数据上传到后台，后台根据当前的数据可以调用任何一个夹取机构，实现夹取机构的自由切换。
所述摄像头被设置为获取当前快递的包装类别；所述转动机构被设置为根据包装类别切换夹取机构所在的位置，选用与包装类别相适配的夹取机构；
所述夹取机构至少包括第一夹取机构和第二夹取机构，其中所述第一夹取机构被设置为夹取软包装快递，所述第二夹取机构被设置为夹取硬包装快递。
在进一步的实施例中，所述第一夹取机构包括：
套筒，连接于所述转动机构；所述套筒的活动端的边缘处铰接有至少三组夹持件；所述夹持件背离套筒的一端为夹持端；
活动杆，沿轴向穿插于所述套筒内；所述活动杆活动端处铰接有至少三组连接件，所述连接件的数量和位置与所述夹持件相一致；所述连接件的一端铰接于所述夹持件的中间位置；
伸缩件，传动连接于所述活动杆的固定端；当伸缩件处于压缩状态时，活动杆最大限度的位于所述套筒内，此时夹持端处于聚拢状态；反之夹持端处于张开状态。
通过采用上述技术方案：适用于软包装快递，好比袋装或者带有一定的柔软度的快递，通过相互聚拢的夹持端将相互的作用力有效的传递到快递上，同样适用于体积娇小的快递。
在进一步的实施例中，所述夹持端为向轴线延伸预定高度的凸起。
通过采用上述技术方案：增加摩擦力，降低快递滑落的可能性。
在进一步的实施例中，所述第二夹持机构包括：
安装件，连接于所述转动机构；所述安装件的两侧分别设置有第一抱持组件和第二抱持组件；
第一驱动组件和第二驱动组件，设置在所述安装件上；所述第一驱动组件被设置为驱动第一抱持组件与第二抱持组件中位于同一侧的抱持件做同向或者反向运动；所述第二驱动组件被设置为驱动第一抱持组件与第二抱持组件中位于另一侧的抱持件做同向或者反向运动。
通过采用上述技术方案：采用的是同一个驱动组件控制两个抱持组件中的对应的抱持部，增加夹持时施加在快递两侧的压力，加强夹持力度。
在进一步的实施例中，所述第一抱持组件包括：
第一外转轴，可转动的安装在安装件的一侧；所述第一外转轴内套接且转动连接有第一内转轴；
第一抱持件，固定在第一内转轴的底部；
第三抱持件，固定套接在所述第一外转轴的底部；
所述第二抱持组件包括：第二外转轴，可转动的安装在安装件的另一侧；所述第二外转轴内套接且转动连接有第二内转轴；
第二抱持件，固定在第二内转轴的底部；
第四抱持件，固定套接在所述第二外转轴的底部；
所述第一驱动组件设置为同时驱动第一抱持件和第四抱持件做同向或者反向运动；所述第二驱动组件被设置为同时驱动第二抱持件和第三抱持件做同向或者反向运动。
在进一步的实施例中，所述第一驱动组件包括：
第一气缸，安装在所述安装件上；所述第一气缸的活塞杆上铰接有第一连接套，所述第一连接套于第一外转轴；第一连接套与活塞杆的铰接处与第三抱持件同时位于第一外转轴的一侧；
还包括：第二连接套和第三连接套，分别固定于所述第一外转轴和第二外转轴；
第一连接轴，其两端分别铰接于第二连接套和第三连接套；所述第三连接套与第一连接轴的铰接处与第四抱持件分别位于第二外转轴的两侧。
在进一步的实施例中，所述第二驱动组件包括：
第二气缸，安装在所述安装件上；所述第二气缸的活塞杆上铰接有第四连接套，所述第四连接套于第二内转轴；第四连接套与活塞杆的铰接处与第二抱持件同时位于第二外转轴的一侧；
还包括：第五连接套和第六连接套，分别固定于所述第二内转轴和第一内转轴；
第二连接轴，其两端分别铰接于第五连接套和第六连接套；所述第六连接套与第二连接轴的铰接处与第三抱持件分别位于第一外转轴的两侧。
在进一步的实施例中，所述安装件的长度根据硬包装快递的长度所在的范围分为至少两级，包括一级安装件、二级安装件、…、n级安装件，其中n为大于2的整数；
定义硬包装快递的长度为L，则安装件等级的选用符合以下条件：
n= L/ n
1，n取整；其中，n
1为使用一级安装件时第二夹持机构夹取的最大长度；
定义抱持件的长度为m，则m=（0.6~0.8）L。
通过采用上述技术方案：实现对不同大小的硬包装快递的夹持，增加了该系统的使用范围。
一种使用如上所述的基于物联网的搬运系统的搬运方法，包括以下步骤：
步骤一、摄像机获取当前快递的包装类别，若识别为软包装快递，则执行步骤二；若识别为硬包装快递，则执行步骤四；
步骤二、转动机构收到执行命令，将第一夹取机构转动到当前快递处；
步骤三、调节伸缩件，使伸缩件处拉伸状态，夹持端张开，并移动机械臂使当前快递位于多个夹持端形成的夹持空间内，再次调节伸缩件，使伸缩件处压缩状态，夹持端聚拢夹紧当前快递，搬运转移；
步骤四、转动机构收到执行命令，将第二夹取机构转动到当前快递处；
步骤五、调节第一气缸和第二气缸均为顶出状态并移动机械臂使当前快递位于第一抱持件、第二抱持件、第三抱持件和第四抱持件构成的夹持空间内；再次调节第一气缸和第二气缸均为压缩状态并抱起当前快递位，搬运转移。
在进一步的实施例中，所述步骤四还包括：摄像机获取硬包装快递的长度，根据长度所在的范围选用具有与之相适配的安装件的第二夹持机构。
本发明在同一个机械臂的末端处设置了可供选择和换向的多组夹取机构，并结合摄像机的图像采集功能，基于快递包装的类型调用对应的夹取机构，在同一个地理位置处和相邻的夹取时间段实现对不同包装类型的快递进行夹取，增加了分拣搬运的效率。同时无需采用多个物流链进行分拣，节省了空间和时间。
图1为第一夹持机构的结构示意图。
图2为第二夹持机构的结构示意图。
图1至图2中的各标注为：套筒101、夹持件102、夹持端103、活动杆104、连接件105、安装件201、第一外转轴202、第一内转轴203、第一抱持件204、第三抱持件205、第二外转轴206、第二内转轴207、第二抱持件208、第四抱持件209、第一气缸210、第一连接套211、第二连接套212、第三连接套213、第一连接轴214、第二气缸215、第四连接套216、第五连接套217、第六连接套218、第二连接轴219。
下面结合附图说明和实施例对本说明做进一步的说明。
实施例
1
快递运输整理的过程中，需要将快递按照种类或者日期进行保存或者派件，现有技术中，大多是通过人力劳动进行分拣，该分拣方法效率极低已经无法满足目前的快递物发展的需求。其次，也有使用多个物流线在交叉处通过分拣机进行分拣，该方法对场地的需求较大，一般中小型的快递中转站是很难满足场地需求。
因此本实施例为了解决上述问题，研发出了一种基于物联网的搬运系统，通过适用于多种类型的快递夹取实现在同一个地理位置处上的分拣搬运，即提高了分拣效率同时降低了对空间的需求。
具体变现为；一种基于物联网的搬运系统，包括多组机械臂，按照分拣需求设置在不同的位置处进行区域化分拣搬运。为了能够在同一个机械臂的末端同时存在多种夹取功能，故机械臂的末端处设置有转动机构，且转动机构上设置有两组夹取机构，每组夹取机构上均安装有摄像头，所述摄像头共享一个数据平台。在上述结构中，转动机构的设置是为了根据当前快递包装的类型选用与之匹配的夹取机构，故使用现有转动机构即可，在本实施例中不做赘述。数据共享实现了当其中任何一个夹取机构上的摄像头对快递进行信息读取时，都能将数据上传到后台，后台根据当前的数据可以调用任何一个夹取机构，实现夹取机构的自由切换。
换言之，当其中任何一个夹取机构上的摄像头获取到当前快递包装类别的信息，数据会上传到数据平台中，数据平台可以调用转动机构上任何一个夹取机构部进行搬运转移。
在上述实施例中，摄像头被设置为获取当前快递的包装类别；所述转动机构被设置为根据包装类别切换夹取机构所在的位置，选用与包装类别相适配的夹取机构；将快递的包装类别分为软包装快递和硬包装快递。软包装快递为使用环保袋包装衣服、裤子、或者文件等快递；硬包装快递为纸质箱包装的快递，可以是易碎物品、也可以是食品等便于保护产品的快递包装。为了能够适用于以上两种包装的快递，夹取机构包括第一夹取机构和第二夹取机构，其中，第一夹取机构被设置为夹取软包装快递，换言之，第一夹取机构的夹持部能够对环保袋（易发生形变）产生有效的夹持。另外，第二夹取机构被设置夹取硬包装快递，即第二夹取机构可以夹持较大体积且不会轻易发生形变的物体。
在进一步的实施例中，如图1所示，第一夹取机构包括：连接在转动机构上的套筒101，套筒101的内部延其轴向设置有导通部，且套筒101的两端面为敞口结构，敞口结构与导通部相连通。在套筒101的活动端的边缘处铰接有四组夹持件102，且每组夹持件102的末端为夹持端103，即背离套筒101的一端为夹持端103，用于夹持快递。导通部的内部穿插有活动杆104，并在活动杆104的活动端处铰接有四组连接件105，每组连接件105的位置与夹持件102的位置相对应。为了驱动连接件105，连接件105驱动夹持件102，在套筒101的固定端处设置有伸缩件，在本实施例中，伸缩件为电动气缸。电动气缸的活塞杆传动连接活动杆104的固定端，在使用时，当伸缩件处于压缩状态时，活动杆104最大限度的位于所述套筒101内，此时夹持端103处于聚拢状态；反之夹持端103处于张开状态。
使用上述夹持件102实现对易变形的包装袋进行夹持，而一般使用的包装袋均为光滑的接触面，故容易发生滑动。为了解决这一技术问题，夹持端103为向轴线延伸预定高度的凸起。凸起的内壁为波纹面，增加接触时的摩擦力。适用于软包装快递，好比袋装或者带有一定的柔软度的快递，通过相互聚拢的夹持端103将相互的作用力有效的传递到快递上，同样适用于体积娇小的快递。
另一方面，为了能够夹取纸箱等其他包装的硬质包装快递，如图2所示，第二夹持机构包括：安装在转动机构处的安装件201，安装件201的两侧分别设置有第一抱持组件和第二抱持组件。第一驱动组件和第二驱动组件，设置在所述安装件201上。
与现有技术的不同之处在于，市场上使用的第一抱持组件的夹紧状态由第一驱动组件控制，第二抱持组件的夹紧状态由第二驱动组件控制。虽然会带来一定的夹持作用，但是在实际使用时，分别控制的第一抱持组件和第二抱持组件会出现不同步的现象，同时对箱体的作用力会有不对称的现象，因此会造成箱体倾斜或者滑落的问题。
所以在本实施例中，所述第一驱动组件被设置为驱动第一抱持组件与第二抱持组件中位于同一侧的抱持件做同向或者反向运动；所述第二驱动组件被设置为驱动第一抱持组件与第二抱持组件中位于另一侧的抱持件做同向或者反向运动。
在进一步的实施例中，第一抱持组件包括：第一外转轴202、第一内转轴203、第一抱持件204和第二抱持件208。其中第一外转轴202竖向可转动的安装在安装件201的一侧，第一内转轴203套接且转动连接在第一外转轴202内。第一抱持件204固定套接在所述第一外转轴202的底部，同时第三抱持件205固定在第一内转轴203的底部，且第一抱持件204与第三抱持件205分别设置在第一外转轴202的两侧。
第二抱持组件包括：第二外转轴206、第二内转轴207、第二抱持件208和第四抱持件209。其中第二外转轴206竖向可转动的安装在安装件201的另一侧，第二内转轴207套接且转动连接在第二外转轴206内。第二抱持件208固定在第二内转轴207的底部，同时第四抱持件209固定在第二外转轴206的底部，且第二抱持件208与第四抱持件209分别设置在第一外转轴202的两侧。所述第一驱动组件设置为同时驱动第一抱持件204和第四抱持件209做同向或者反向运动；所述第二驱动组件被设置为同时驱动第二抱持件208和第三抱持件205做同向或者反向运动。
为了实现上述交错传动控制，保证箱体两侧施压的压力等同，第一驱动组件包括：第一气缸210、第一连接套211、第二连接套212、第三连接套213和第一连接轴214。第一气缸210安装在安装件201上，且第一气缸210的活塞杆上铰接有第一连接套211。为了驱动第一外转轴202转动，故第一连接套211固定在套接在第一外转轴202上，且第一连接套211与活塞杆的铰接处与第三抱持件205同时位于第一外转轴202的一侧。第二连接套212和第三连接套213，分别固定于所述第一外转轴202和第二外转轴206；为了实现安装件201两侧的驱动，故第一连接轴214的两端分别铰接于第二连接套212和第三连接套213；所述第三连接套213与第一连接轴214的铰接处与第四抱持件209分别位于第二外转轴206的两侧。
在使用时，当第一气缸210的活塞杆处于拉伸状态时，与之铰接的第一连接套211和第二连接套212做顺时针转动（第二连接套212的铰接处被向远离第一气缸210的一侧推出），即与第一连接套211固定连接的第一外转轴202同样做顺时针转动。固定在第一外轴底部处的第一抱持件204做顺时针转动（向安装件201靠近）。第二连接套212在第一连接轴214的传动下，带动第三连接套213向第一气缸210所在反向靠近，即与第三连接套213固定连接的第二外转轴206同样做逆时针转动，因此固定在第二外转动轴底部的第四抱持件209做逆时针转动（向安装件201靠近），相互靠近的第一抱持件204和第四抱持件209起到夹紧的作用。
同样的，第二驱动组件包括：第二气缸215、第四连接套216、第五连接套217、第六连接套218和第二连接轴219。具体表现为：第二气缸215安装在安装件201上并与第一气缸210为背向设置，且第四连接套216铰接在第二气缸215的活塞杆上，同时为了驱动第二内转轴207的转动，故第四连接套216固定在第二内转轴207上。且第四连接套216与活塞杆的铰接处与第二抱持件208同时位于第二外转轴206的一侧。
第五连接套217和第六连接套218，分别固定于所述第二内转轴207和第一内转轴203；第二连接轴219的两端分别铰接于第五连接套217和第六连接套218；所述第六连接套218与第二连接轴219的铰接处与第三抱持件205分别位于第一外转轴202的两侧。
使用时，第二气缸215的活塞杆处于拉伸状态，与之传动连接的第四连接套216和第五连接套217带动第二内转轴207做顺时针转动，即与第二内转轴207固定连接的第二抱持件208做顺时针（向安装件201靠近）；第五连接套217在第二连接轴219的作用下，连接处向第二气缸215的反方向运动，则第六连接套218做逆时针转动，与第六连接套218固定连接的第一内转轴203做逆时针转动，故与第一内转动轴固定连接的第三抱持件205做逆时针转动（向安装件201靠近），相互靠近的第二抱持件208和第四抱持件209起到夹紧的作用。
通过上述结构，采用的是同一个驱动组件控制两个抱持组件中的对应的抱持部，增加夹持时施加在快递两侧的压力，加强夹持力度，同时符合夹取较重快递的需求。
基于物联网的搬运系统的搬运方法，其特征在于，包括以下步骤：
步骤一、摄像机获取当前快递的包装类别，若识别为软包装快递，则执行步骤二；若识别为硬包装快递，则执行步骤四；
步骤二、转动机构收到执行命令，将第一夹取机构转动到当前快递处；
步骤三、调节伸缩件，使伸缩件处拉伸状态，夹持端103张开，并移动机械臂使当前快递位于多个夹持端103形成的夹持空间内，再次调节伸缩件，使伸缩件处压缩状态，夹持端103聚拢夹紧当前快递，搬运转移；
步骤四、转动机构收到执行命令，将第二夹取机构转动到当前快递处；
步骤五、调节第一气缸210和第二气缸215均为顶出状态并移动机械臂使当前快递位于第一抱持件204、第二抱持件208、第三抱持件205和第四抱持件209构成的夹持空间内；再次调节第一气缸210和第二气缸215均为压缩状态并抱起当前快递位，搬运转移。
在另外一个实施例中，因为根据运输物件大小不同，故快递包装箱的大小也有所不同，使用同一个第二夹取机构进行夹取时，会在夹取范围上受到一定的限制，如果第二夹取机构中的安装件201的长度较短，则不适合夹取较大的箱体；反之如果第二夹取机构中的安装件201的长度过长，则不适合夹取较小的箱体。
故在本实施例中，夹取机构包括第一夹取机构、第二夹取机构和第三夹取机构。第一夹取机构的结构与上述实施例中的第一夹取机构结构相同，故不做赘述。第二夹取机构与第三夹取机构的结构相同，且相同于上述实施例中的第二夹取机构，在本实施例中，第三夹取机构与第二夹取机构的不同之处在于安装件的长度设定。
安装件的长度根据硬包装快递的长度所在的范围分为至少两级，包括一级安装件、二级安装件、…、n级安装件，其中n为大于等于2的整数；定义硬包装快递的长度为L，则安装件等级的选用符合以下条件：n= L/
n
1，n取整；其中，n
1为使用一级安装件时第二夹持机构夹取的最大长度；定义抱持件的长度为m，则m=（0.6~0.8）L。在本实施例中，n=2。
当摄像机识别出来的快递包装箱的长度为小于L时，则调用设置有一级安装件的第二夹取机构，如果识别出来的快递包装箱的长度在L与2L之间，则调用设置有二级安装件的第二夹取机构。
基于上述描述，搬运系统的搬运方法还包括：摄像机获取硬包装快递的长度，根据长度所在的范围选用具有与之相适配的安装件的第二夹持机构。
Claims (10)
- 一种基于物联网的搬运系统，包括机械臂，所述机械臂的末端设置有转动机构；其特征在于，所述转动机构至少设有两组夹取机构；每组夹取机构上均安装有摄像头，所述摄像头共享一个数据平台；所述摄像头被设置为获取当前快递的包装类别；所述转动机构被设置为根据包装类别切换夹取机构所在的位置，选用与包装类别相适配的夹取机构；所述夹取机构至少包括第一夹取机构和第二夹取机构，其中所述第一夹取机构被设置为夹取软包装快递，所述第二夹取机构被设置为夹取硬包装快递。
- 根据权利要求1所述的一种基于物联网的搬运系统，其特征在于，所述第一夹取机构包括：套筒，连接于所述转动机构；所述套筒的活动端的边缘处铰接有至少三组夹持件；所述夹持件背离套筒的一端为夹持端；活动杆，沿轴向穿插于所述套筒内；所述活动杆活动端处铰接有至少三组连接件，所述连接件的数量和位置与所述夹持件相一致；所述连接件的一端铰接于所述夹持件的中间位置；伸缩件，传动连接于所述活动杆的固定端；当伸缩件处于压缩状态时，活动杆最大限度的位于所述套筒内，此时夹持端处于聚拢状态；反之夹持端处于张开状态。
- 根据权利要求2所述的一种基于物联网的搬运系统，其特征在于，所述夹持端为向轴线延伸预定高度的凸起。
- 根据权利要求1所述的一种基于物联网的搬运系统，其特征在于，所述第二夹持机构包括：安装件，连接于所述转动机构；所述安装件的两侧分别设置有第一抱持组件和第二抱持组件；第一驱动组件和第二驱动组件，设置在所述安装件上；所述第一驱动组件被设置为驱动第一抱持组件与第二抱持组件中位于同一侧的抱持件做同向或者反向运动；所述第二驱动组件被设置为驱动第一抱持组件与第二抱持组件中位于另一侧的抱持件做同向或者反向运动。
- 根据权利要求4所述的一种基于物联网的搬运系统，其特征在于，所述第一抱持组件包括：第一外转轴，可转动的安装在安装件的一侧；所述第一外转轴内套接且转动连接有第一内转轴；第一抱持件，固定套接在所述第一外转轴的底部；第三抱持件，固定在第一内转轴的底部；所述第二抱持组件包括：第二外转轴，可转动的安装在安装件的另一侧；所述第二外转轴内套接且转动连接有第二内转轴；第二抱持件，固定在第二内转轴的底部；第四抱持件，固定套接在所述第二外转轴的底部；所述第一驱动组件设置为同时驱动第一抱持件和第四抱持件做同向或者反向运动；所述第二驱动组件被设置为同时驱动第二抱持件和第三抱持件做同向或者反向运动。
- 根据权利要求5所述的一种基于物联网的搬运系统，其特征在于，所述第一驱动组件包括：第一气缸，安装在所述安装件上；所述第一气缸的活塞杆上铰接有第一连接套，所述第一连接套于第一外转轴；第一连接套与活塞杆的铰接处与第三抱持件同时位于第一外转轴的一侧；还包括：第二连接套和第三连接套，分别固定于所述第一外转轴和第二外转轴；第一连接轴，其两端分别铰接于第二连接套和第三连接套；所述第三连接套与第一连接轴的铰接处与第四抱持件分别位于第二外转轴的两侧。
- 根据权利要求5所述的一种基于物联网的搬运系统，其特征在于，所述第二驱动组件包括：第二气缸，安装在所述安装件上；所述第二气缸的活塞杆上铰接有第四连接套，所述第四连接套于第二内转轴；第四连接套与活塞杆的铰接处与第二抱持件同时位于第二外转轴的一侧；还包括：第五连接套和第六连接套，分别固定于所述第二内转轴和第一内转轴；第二连接轴，其两端分别铰接于第五连接套和第六连接套；所述第六连接套与第二连接轴的铰接处与第三抱持件分别位于第一外转轴的两侧。
- 根据权利要求4所述的一种基于物联网的搬运系统，其特征在于，所述安装件的长度根据硬包装快递的长度所在的范围分为至少两级，包括一级安装件、二级安装件、…、n级安装件，其中n为大于2的整数；定义硬包装快递的长度为L，则安装件等级的选用符合以下条件：n= L/ n 1，n取整；其中，n 1为使用一级安装件时第二夹持机构夹取的最大长度；定义抱持件的长度为m，则m=（0.6~0.8）L。
- 一种使用如权利要求1至8中任意一项所述的基于物联网的搬运系统的搬运方法，其特征在于，包括以下步骤：步骤一、摄像机获取当前快递的包装类别，若识别为软包装快递，则执行步骤二；若识别为硬包装快递，则执行步骤四；步骤二、转动机构收到执行命令，将第一夹取机构转动到当前快递处；步骤三、调节伸缩件，使伸缩件处拉伸状态，夹持端张开，并移动机械臂使当前快递位于多个夹持端形成的夹持空间内，再次调节伸缩件，使伸缩件处压缩状态，夹持端聚拢夹紧当前快递，搬运转移；步骤四、转动机构收到执行命令，将第二夹取机构转动到当前快递处；步骤五、调节第一气缸和第二气缸均为顶出状态并移动机械臂使当前快递位于第一抱持件、第二抱持件、第三抱持件和第四抱持件构成的夹持空间内；再次调节第一气缸和第二气缸均为压缩状态并抱起当前快递位，搬运转移。
- 根据权利要求9所述的基于物联网的搬运系统的搬运方法，其特征在于，所述步骤四还包括：摄像机获取硬包装快递的长度，根据长度所在的范围选用具有与之相适配的安装件的第二夹持机构。
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